Development of 4-D.O.F. manipulator using mechanical impedance adjuster

Toshio Morita*, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

40 Citations (Scopus)


The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple D.O.F. manipulator using this mechanism. This mechanism has the advantage of conventional method of the force control in realizing high compliance. This paper presents the development of the 4-D.O.F. MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-D.O.F. MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-D.O.F. MIA ARM has high performance not only in force control but also in motion control.

Original languageEnglish
Pages (from-to)2902-2907
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996 Jan 1
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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